EP3809578A1 - Verfahren zum starten eines synchronmotors - Google Patents

Verfahren zum starten eines synchronmotors Download PDF

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Publication number
EP3809578A1
EP3809578A1 EP19203213.4A EP19203213A EP3809578A1 EP 3809578 A1 EP3809578 A1 EP 3809578A1 EP 19203213 A EP19203213 A EP 19203213A EP 3809578 A1 EP3809578 A1 EP 3809578A1
Authority
EP
European Patent Office
Prior art keywords
stator
rotor
speed
rotor speed
current vector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19203213.4A
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English (en)
French (fr)
Inventor
Andrey KALYGIN
Christian Stulz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Schweiz AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Schweiz AG filed Critical ABB Schweiz AG
Priority to EP19203213.4A priority Critical patent/EP3809578A1/de
Priority to US17/071,048 priority patent/US11527973B2/en
Priority to CN202011102890.9A priority patent/CN112671303A/zh
Publication of EP3809578A1 publication Critical patent/EP3809578A1/de
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/02—Details of starting control
    • H02P1/04—Means for controlling progress of starting sequence in dependence upon time or upon current, speed, or other motor parameter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

Definitions

  • the invention relates to the control of electrical drives.
  • the invention relates to a method, a computer program and a computer-readable medium for starting a synchronous electrical machine as well as to a synchronous electrical machine with a controller adapted for performing such a method.
  • a rotor position and speed of a synchronous motor such as a permanent-magnet synchronous motor (PMSM) may be detected without using any sensors or encoders.
  • PMSM permanent-magnet synchronous motor
  • a rotating stator current vector may be applied, which creates electromagnetic torque forcing the rotor to follow the stator current vector. Due to very weak natural damping of a synchronous motor, such kind of starting may result in speed oscillations of the rotor. Such oscillations should be avoided.
  • additional damping of the rotor may be achieved by modifying the stator current vector in an appropriate way.
  • Controlling of the stator current is usually implemented in an orthogonal coordinate system rotating with the rotor.
  • the stator current vector may be modified by changing at least one of its components or by changing a frequency with which the coordinate system rotates, for example, with a predefined frequency profile.
  • the startup procedure of the synchronous motor should be as short as possible.
  • Typical algorithms may be capable of starting a synchronous motor within at least 3 seconds.
  • US 9,998,044 B2 describes a startup method for a three-phase sensorless permanent-magnet synchronous motor, where a rotor flux projection on the d - or q -axis of the rotating coordinate system is used to determine whether a stator current reference applied during startup is sufficient to spin the motor.
  • the method can also determine an initial value for a stator torque current reference to use at the start of a closed-loop field-oriented control mode based on an angle difference between reference and estimated angles of the rotor.
  • a first aspect of the invention relates to a method for starting a synchronous motor fed by an electrical energy converter.
  • the synchronous motor may comprise a rotor for creating a first magnetic field and a stator with stator windings connected to an electrical energy converter for converting a supply voltage into a stator voltage to be applied to the stator windings to create a rotating second magnetic field interacting with the first magnetic field.
  • the rotor may have a permanent magnet and/or rotor windings to create the first magnetic field.
  • the rotor may be rotatably mounted in the stator.
  • the electrical energy converter may comprise a three-phase inverter for providing three-phase stator voltages from a DC link of the electrical energy converter.
  • the stator voltages may be calculated by a controller for sensorless field-oriented control of the synchronous motor.
  • the synchronous motor i. e., an AC motor in which, at steady state, a rotation of the rotor is synchronized with a frequency of a supply current, may be part of an electric drive system comprising the electrical energy converter and a controller for controlling the synchronous motor dependent on a load.
  • the method may be automatically performed by the controller. With the method, the synchronous motor may be started in eight steps.
  • a first step of the method comprises: applying reference stator voltages to the stator windings, wherein the reference stator voltages are determined from a reference current vector and a reference rotor speed.
  • the reference current vector may be determined from a reference current magnitude during starting.
  • the reference current vector may be provided in an orthogonal coordinate system.
  • the reference rotor speed may be an angular speed with which the rotor should spin.
  • the rotating coordinate system may be an orthogonal coordinate system and may rotate with the rotor.
  • the reference current vector may have two components referring to a rotor flux and a rotor torque.
  • the reference current magnitude and the reference rotor speed may be varied during starting, for example, according to a predefined profile, which may be a ramping or stepping function or any other sort of appropriate function.
  • the profile may also comprise a constant portion.
  • a second step of the method comprises: measuring stator currents in the stator windings.
  • the stator currents may be measured by a control system of the electrical energy converter, e. g., with low-inductance shunt resistors of a current sensing and fault generation circuitry built into a three-phase inverter of the electrical energy converter.
  • the measured stator currents may be used for estimating a rotor flux.
  • the measured stator currents may be provided in a stationary three-phase coordinate system, the measured stator currents may be transformed in an orthogonal rotating coordinate system prior to estimating the rotor flux.
  • the measured stator currents may also be used to calculate a reference voltage for controlling speed or torque of the synchronous motor in a closed-loop control mode.
  • a third step of the method comprises: calculating an estimated rotor speed and an estimated rotor position of the rotor from the applied stator voltages and the measured stator currents.
  • the estimated rotor speed and the estimated rotor position may be calculated in a phase-locked loop from an estimated rotor flux.
  • the stator voltages may be provided in the rotating coordinate system prior to estimating the rotor speed and rotor position and transformed in a stationary three-phase coordinate system.
  • a fourth step of the method comprises: calculating a speed error by subtracting the estimated rotor speed from the reference rotor speed.
  • a speed error may be an error signal generated from a difference between the estimated rotor speed and the reference rotor speed.
  • a fifth step of the method comprises: determining a reference torque producing current component from the speed error and modifying the reference current vector with the reference torque producing current component.
  • the speed error may be input to a PI controller which may output a reference current accordingly.
  • the reference torque producing current component may be seen as an output of a PI controller for correcting the reference torque producing current component of the reference current vector.
  • the reference torque producing current component may be input to a limit controller to verify that the reference torque producing current component does not exceed an upper and/or lower current limit. For example, the current limit may be provided dependent on the reference current magnitude.
  • a sixth step of the method comprises: calculating a position error by subtracting the estimated rotor position from a reference rotor position, wherein the reference rotor position is determined from the reference rotor speed and a reference rotor speed correction, and wherein the reference rotor speed correction increases and decreases with the position error.
  • the reference rotor speed correction may increase when the position error increases, and vice versa.
  • the increase of the reference rotor speed correction may be proportional to the increase of the position error, and vice versa.
  • the reference rotor speed correction may be subtracted from the reference rotor speed to determine a corrected reference rotor speed which may then be converted into the reference rotor position, e. g., by integrating the corrected reference rotor speed.
  • a seventh step of the method comprises: correcting the reference current vector by transforming it by the position error into a corrected reference current vector, wherein a rotating coordinate system of the corrected reference current vector is aligned with the estimated rotor position. It is possible that the position error is set to zero when it falls below a predefined threshold value. In this case, the reference rotor position may be set identical with the estimated rotor position.
  • an eighth step of the method comprises: determining switching signals for the electrical energy converter from the reference stator voltages and applying the switching signals to the electrical energy converter.
  • a switching signal may be a signal generated by pulse-width modulating phase voltages provided in a three-phase coordinate system. Such pulse-width modulating may be controlled with a space vector modulation algorithm implemented in the controller as hardware and/or software.
  • the switching signals may each be generated as a low-power input signal for a gate driver of the electrical energy converter.
  • the switching signals may each be generated as a high-current output signal of such a gate driver.
  • Such an output signal may then be applied to a gate of a transistor of a three-phase inverter connected to a DC link of the electrical energy converter.
  • the method further comprises: determining from the position error whether the estimated rotor position is accepted as correct or not; when the estimated rotor position is accepted as correct: using the estimated rotor position as the reference rotor position and changing a magnitude of the reference current vector to an initial value for normal operation of the electric drive system; and/or when the estimated rotor position is not accepted as correct: changing a magnitude of the reference current vector according to a predefined magnitude profile and/or changing the reference rotor speed according to a predefined rotor speed profile.
  • the estimated rotor position may be determined as correct when it reaches a desired minimum and as not correct as long as the desired minimum has not yet been reached.
  • a value of the reference rotor position may be set to a value of the estimated rotor position, i. e., the position error may be set to zero.
  • the electrical energy converter may be controlled by closed-loop sensorless field-oriented control based on an external speed and/or torque reference signal, which may also be referred to as speed and/or torque control scheme.
  • the initial value of the reference torque producing current component may be chosen such that smooth transition from the startup procedure to the speed or torque control scheme is ensured.
  • the initial value may be the most recent value of a reference torque producing current component calculated during the startup procedure.
  • the magnitude of the reference current vector may be set to the initial value with a ramping or stepping function as soon as the estimated rotor position is determined as correct. In this way, smooth switching to the normal operation mode of the electric drive system may be achieved.
  • the predefined magnitude profile may be a rising curve or a curve with a rising portion and a constant portion.
  • a rising curve may be a linear or non-linear continuous curve.
  • a constant portion may be a horizontal line of the curve.
  • an absolute value of the position error is compared to a predefined threshold value, wherein the estimated rotor position is accepted as correct when the absolute value of the position error stays below the threshold value for a predefined time period.
  • the threshold value may be calculated or determined experimentally.
  • the method further comprises: determining a reference magnetizing current component from the reference torque producing component and a reference magnitude of the reference current vector and modifying the reference current vector with the reference magnetizing current component.
  • a reference magnetizing current component may be seen as one of two components of the reference current vector, which affects motor magnetizing (main) flux.
  • the reference rotor position is determined by integrating a corrected reference rotor speed.
  • the reference rotor speed correction is determined from a product of the position error and a gain factor.
  • the gain factor may be set to zero when the position error stays below the threshold value for the predefined amount of time.
  • the reference torque producing component is determined dependent on a reference magnitude of the reference current vector.
  • the reference magnitude may be used to set the positive and/or negative limits of a limit controller for the reference torque producing current component.
  • the method further comprises: determining a reference voltage vector from the corrected reference current vector and the measured stator currents; transforming the reference voltage vector into a stationary three-phase coordinate system; determining the switching signals by pulse-width modulating phase voltages of the transformed reference voltage vector.
  • each of the components of the reference voltage vector may be an output signal of a PI controller.
  • the output signal may be generated by amplifying an error signal resulting from a comparison of a component of the reference current vector with the measured stator currents.
  • the reference voltage vector may be provided in a rotating orthogonal coordinate system.
  • a further aspect of the invention relates to a computer program which, when being executed on a processor, is adapted for performing the method as described above and below.
  • a further aspect of the invention relates to a computer readable medium in which such a computer program is stored.
  • a computer-readable medium may be a floppy disk, a hard disk, a USB (Universal Serial Bus) storage device, a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable Read Only Memory), or a FLASH memory.
  • a computer readable medium may also be a data communication network, e. g. the Internet, which allows downloading a program code.
  • the computer-readable medium may be a non-transitory or transitory medium.
  • a further aspect of the invention relates to a controller for an electrical energy converter.
  • the controller is adapted for performing the method as described above and below.
  • the controller may comprise a processor and a memory for storing the computer program.
  • the method is partially or completely implemented in hardware.
  • a further aspect of the invention relates to an electric drive system which comprises a synchronous motor with a rotor for creating a first magnetic field and a stator with stator windings. Furthermore, the electric drive system comprises an electrical energy converter connected to the stator windings and adapted for converting a supply voltage into a stator voltage to be applied to the stator windings to create a rotating second magnetic field interacting with the first magnetic field.
  • the electric drive system also has a controller for controlling the electrical energy converter. The controller is adapted for performing the method as described above and below.
  • Fig. 1 shows an electric drive system 100 with a synchronous motor 102, an electrical energy converter 104 and a controller 106.
  • the synchronous motor 102 which may be a permanent-magnet synchronous machine (PMSM), comprises a stator 108 with stator windings 110 which are each connected to outputs of the electrical energy converter 104.
  • a rotor 112 is configured to rotate within the stator 108.
  • the rotor 112 comprises one or more permanent magnets 114 which may be mounted on and/or buried within the rotor 112. Additionally or alternatively, the rotor 112 may comprise a number of electrical windings to create the first magnetic field.
  • the stator windings 110 are arranged around the rotor 112.
  • the electrical energy converter 104 is connected to an electrical grid 116 providing an AC supply voltage V cc .
  • the electrical energy converter 104 is configured to convert the supply voltage V cc into a three-phase AC voltage in the form of three stator voltages V sx , V sy , V sz based on switching signals s 1 , s 2 , s 3 , e. g., pulse-width modulation or space vector modulation signals, generated by the controller 106.
  • the stator voltages V sx , V sy , V sz are applied to respective terminals of the stator windings 110.
  • An electrical current through the stator windings 110 sets up a rotating second magnetic field within an air gap between the rotor 112 and the stator 108.
  • the interaction between the two magnetic fields causes the rotor 112 to rotate, producing torque.
  • the speed and torque of the synchronous motor 102 may be controlled by controlling the current through the stator windings 110.
  • the synchronous motor 102 may be controlled using field-oriented control (FOC) techniques without any sensors or encoders.
  • FOC field-oriented control
  • the flux and torque components of the stator currents are controlled independently by the controller 106 based on a reference rotor speed ⁇ r * * , which may be an external speed reference signal, and an estimated rotor position ⁇ r estimated based on a back electromagnetic force (back-EMF) calculated from quantities of the stator windings 110.
  • back-EMF back electromagnetic force
  • Fig. 1 depicts a block diagram of an algorithm implemented in the controller 106 for starting the synchronous motor 102 from standstill.
  • a reference current generator 118 generates a reference magnitude I s * for a reference current vector with a reference magnetizing component i sd * * and a reference torque producing component i sq * * .
  • the reference current generator 118 may output the reference magnitude I s * according to a desired profile as shown in Fig. 3 , which may be a ramping function ramping the reference magnitude I s * up to a specified value and keeping it constant until the estimated rotor position ⁇ r is accepted as correct.
  • the reference current generator 118 may then change the reference magnitude I s * to a value defined as an initial value for a torque control mode.
  • a reference speed generator 122 generates a reference rotor speed ⁇ r * * for the rotor 112.
  • the reference rotor speed ⁇ r * * may also be generated according to a desired profile, e. g., ramped up from a specified minimum value to a specified maximum value, as shown in Fig. 4 .
  • An estimator block 124 comprises a rotor flux estimator 126 for calculating an estimated rotor flux ⁇ mfdq and a rotor position estimator 128 for calculating the estimated rotor position ⁇ r and an estimated rotor speed ⁇ r based on the estimated rotor flux ⁇ mfdq .
  • the estimated rotor position ⁇ r and/or the estimated rotor speed ⁇ r may be calculated in a phase-locked loop (PLL).
  • the estimated rotor flux ⁇ mfdq is calculated based on the applied stator voltages V sx , V sy , V sz and stator currents i sx , i sy measured in the stator windings 110.
  • stator voltages V sx , V sy , V sz and stator currents i sx , i sy measured in the stator windings 110 In the example illustrated in Fig. 1 , only two phases i sx , i sy of the stator current are measured, since a third phase may be calculated by the controller 106 based on the measurements of the other two phases i sx , i sy .
  • the measured stator currents i sx , i sy as well as the applied stator voltages V sx , V sy , V sz may be provided in a stationary three-phase xyz coordinate system.
  • the measured stator currents i sx , i sy and the applied stator voltages V sx , V sy , V sz may be transformed into a stationary orthogonal ⁇ coordinate system by a transformation component 130, as illustrated in Fig. 2 .
  • the estimated rotor speed ⁇ r is compared with the reference rotor speed ⁇ r * * in a speed comparator 132 which subtracts the estimated rotor speed ⁇ r from the reference rotor speed ⁇ r * * to generate a speed error ⁇ e as an error signal.
  • the speed error ⁇ e is amplified by a torque controller 134, e. g., a PI controller, which generates the reference torque producing current component i sq * * .
  • a limit controller 136 limits the reference torque producing current component i sq * * according to a given value of the reference magnitude I s * .
  • a reference rotor position ⁇ r * is calculated by a position reference generator 138, which may be an integrator for integrating the reference rotor speed ⁇ r * .
  • a position comparator 140 subtracts the estimated rotor position ⁇ r from the reference rotor position ⁇ r * to generate a position error ⁇ e as an error signal.
  • the position error ⁇ e is input to a reference position corrector 142 which amplifies the position error ⁇ e with an appropriate gain factor and outputs a reference rotor speed correction ⁇ c .
  • the reference position corrector 142 is configured to increase and decrease the reference rotor speed correction ⁇ c in the same proportion as the position error ⁇ e .
  • the reference rotor speed correction ⁇ c and the position error ⁇ e may be modified in different proportions.
  • the reference rotor speed correction ⁇ c is used by a reference speed corrector 144 to calculate a corrected reference rotor speed ⁇ r * , for example, by subtracting the reference rotor speed correction ⁇ c from the reference rotor speed ⁇ r * * as output by the reference speed generator 122.
  • the corrected reference rotor speed ⁇ r * is then input to the position reference generator 138 for calculating the reference rotor position ⁇ r * .
  • the reference rotor speed correction ⁇ c is to be understood as an additional rotation of the reference rotor position ⁇ r * towards the estimated rotor position ⁇ r . This results in faster convergence of ⁇ r * and ⁇ r and thus in better oscillation damping and shorter startup time.
  • the reference magnetizing current component i sd * * has to be calculated in addition to the reference torque producing current component i sq * * .
  • the reference magnetizing current component i sd * * is calculated by a current magnitude limiter 148 based on the reference magnitude I s * and the reference torque producing current component i sq * * .
  • the reference magnitude I s * and the reference torque producing current component i sq * * are each squared in a squaring component 149.
  • the current magnitude limiter 148 then subtracts the squared reference torque producing current component i sq 2 * * from the squared reference magnitude I s 2 * .
  • a square rooting component 150 calculates the reference magnetizing current component i sd * * from the resulting difference, i. e., the squared reference magnetizing current component i sd 2 * * .
  • the reference magnetizing current component i sd * * , the reference torque producing current component i sq * * and the position error ⁇ e are each input to a reference transformation component 151 which is configured to transform the reference magnetizing current component i sd * * and the reference torque producing current component i sq * * by the position error ⁇ e from a reference rotating orthogonal dq* coordinate system into a rotating orthogonal dq coordinate system aligned with the estimated rotor position ⁇ r .
  • the resulting corrected reference current vector has a corrected reference magnetizing current component i sd * and a corrected reference torque producing component i sq * .
  • a current controller 152 receives both the corrected reference torque producing current component i sq * , and the corrected reference magnetizing current component i sd * .
  • the current controller 152 compares the corrected reference torque producing current component i sq * to a measured and transformed stator current i sq , and the corrected reference magnetizing current component i sd * to a measured and transformed stator current i sd in order to generate the switching signals s 1 , s 2 , s 3 , as it will be described in more detail in Fig. 5 .
  • the estimated rotor position ⁇ r is accepted as correct by the reference positon corrector 142 when the absolute value of the position error ⁇ e stays below a given threshold for a certain amount of time.
  • the reference current generator 118 may ramp the reference magnitude I s * to a value used as an initial value for a normal operation control scheme. This initial value may be equal to the reference torque producing current component i sq * * generated by the torque controller 134.
  • the startup procedure is considered as successfully finished and the controller 106 switches to a closed-loop torque or speed control mode based on FOC.
  • the orientation angle of the rotating dq coordinate system changes from the reference rotor position ⁇ r * to the estimated rotor position ⁇ r .
  • the current references i sd * and i sq * are changed to values generated by a torque and flux control loop. In this way, seamless switching from the startup procedure to the normal operation of the synchronous motor 102 may be achieved.
  • the different components of the controller 106 may be realized in hardware and/or in software.
  • the controller 106 may also comprise a processor and a memory for storing instructions which, when being executed by the processor, may perform the method as described above and below.
  • Fig. 2 schematically shows the transformation component 130 from Fig. 1 in more detail.
  • the transformation component 130 comprises a first transformation unit 200 for transforming the measured stator currents i sx , i sy from the stationary three-phase xyz coordinate system to the stationary orthogonal ⁇ coordinate system by performing a Clarke transformation.
  • the resulting stator currents i s ⁇ , i s ⁇ are then transformed to the rotating orthogonal dq coordinate system by a second transformation unit 202 which performs a Park transformation based on the estimated rotor position ⁇ r .
  • the second transformation unit 202 outputs the measured and transformed stator currents i sd , i sq which are used by the current controller 152 to generate the switching signals s 1 , s 2 , s 3 for controlling the electrical energy converter 104.
  • the transformation component 130 may be configured to transform the applied stator voltages V sx , V sy in an analogous manner.
  • the reference transformation component 151 may have only the transformation component 202.
  • Fig. 3 shows a diagram of a predefined magnitude profile 300, as it may be stored in the reference current generator 118 of Fig. 1 .
  • the magnitude profile 300 comprises a first portion 302 in the form of a rising curve.
  • the first portion 302 transitions into a constant second portion 304 in the form of a horizontal line.
  • the reference magnitude profile 300 may only comprise the rising curve.
  • the rising curve may be a linear or non-linear function.
  • Fig. 4 shows a diagram of a predefined rotor speed profile 400, as it may be stored in the reference speed generator 122 of Fig. 1 .
  • the rotor speed profile 400 has the form of a rising curve, which may be linear or non-linear function for ramping the reference rotor speed ⁇ r * * from a predefined minimum up to a predefined maximum.
  • Fig. 5 schematically shows the current controller 152 from Fig. 1 in more detail.
  • the current controller 152 comprises a first current comparator 500 for generating a first error signal 502 by subtracting i sd , as generated by the transformation component 130, from i sd * , as generated by the reference transformation component 151.
  • the first error signal 502 is amplified by a first PI controller 504 to generate a reference d-component voltage V sd * .
  • the current controller 152 comprises a second current comparator 506 for generating a second error signal 508 by subtracting i sq , as generated by the transformation component 130, from i sq * , as generated by the reference transformation component 151.
  • the second error signal 508 is amplified by a second PI controller 510 to generate a reference q-component voltage V sq * .
  • a voltage transformation component 512 is configured to transform the reference d-component voltage V sd * and the reference q-component voltage V sq * into the stationary three-phase xyz coordinate system by inverse Park and Clarke transformations.
  • the resulting three reference stator voltages V sx * , V sy * , V sz * are to be applied to the stator windings 110.
  • the reference stator voltages V sx * , V sy * , V sz * are input to a modulation component 514 configured to generate the switching signals s 1 , s 2 , s 3 by pulse-width modulating the stator voltages V sx , V sy , V sz , each of the switching signals s 1 , s 2 , s 3 corresponding to one modulated voltage.
  • the stator voltages V sx , V sy , V sz may be modulated with a space vector modulation algorithm implemented in the modulation component 514.
  • Fig. 6 shows a flow diagram of a method 600 for starting the synchronous motor 102 from Fig. 1 without a position and speed sensor.
  • stator voltages V sx , V sy , V sz are applied to the stator windings 110.
  • a step 620 the resulting stator currents i sx , i sy are measured in the stator windings 110.
  • a step 630 the measured stator currents i sx , i sy as well as the applied stator voltages V sx , V sy , V sz are used to estimate the rotor position ⁇ r and the rotor speed ⁇ r based on back-EMF created by rotation of the rotor 112.
  • a step 640 the estimated rotor speed ⁇ r is compared with the reference rotor speed ⁇ r * * to determine the speed error ⁇ e .
  • a step 650 the speed error ⁇ e is used to determine the reference torque producing current component i sq * * .
  • a step 660 the estimated rotor position ⁇ r is subtracted from the reference rotor position ⁇ r * to determine the position error ⁇ e .
  • the reference rotor position ⁇ r * is determined from the corrected reference rotor speed ⁇ r * , e. g., by integration of the corrected reference rotor speed ⁇ r * .
  • the corrected reference rotor speed ⁇ r * is calculated based on the reference rotor speed eo" by subtracting the reference rotor speed correction ⁇ c which is calculated based on the position error ⁇ e . It may be that an absolute value of the position error ⁇ e is compared to a predefined threshold value in an optional step 662.
  • the reference rotor position ⁇ r * is set to a value of the estimated rotor position ⁇ r in an optional step 664. This may be achieved by setting the position error ⁇ e and the reference rotor speed correction ⁇ c to zero. Also, the magnitude of the reference current vector may be changed to an appropriate initial value for normal operation of the synchronous motor 102 to ensure smooth transition to a closed-loop torque or speed control mode.
  • the reference rotor speed correction ⁇ c may be calculated based on the position error ⁇ e in an optional step 666 to minimize the position error ⁇ e in a further correction loop.
  • the greater the position error ⁇ e the greater the reference rotor speed correction ⁇ c , and vice versa.
  • the reference rotor position ⁇ r * may be corrected in the direction of the estimated rotor position ⁇ r by changing the reference rotor speed ⁇ r * accordingly.
  • the reference current vector modified with the reference torque producing current component i sq * * is transformed from the reference dq* coordinate system by the position error ⁇ e into the dq coordinate system which is aligned with the estimated rotor position ⁇ r .
  • the position error ⁇ e is accepted as correct, e. g., set to zero, the reference rotor position ⁇ r * is identical to the estimated rotor position ⁇ r .
  • the switching signals s 1 , s 2 , s 3 are generated based on the corrected reference current vector components i sd * and i sq * .
  • the reference magnitude I s * may be changed from a specified minimum value up to a specified maximum value and kept constant until the estimated rotor position ⁇ r is accepted as correct. Then, the reference magnitude I s * may be changed to a value defined as an initial value for a torque controller. Also during startup, the reference rotor speed ⁇ r * * may be changed from a specified minimum value up to a specified maximum value.
  • Fig. 7 depicts a timing chart to illustrate oscillations of the rotor speed of the synchronous motor 102 from Fig. 1 when started from standstill with disabled reference rotor speed correction.
  • the timing chart shows a curve 700 of a motor current, a curve 702 of an estimated motor speed, a curve 704 of a measured motor speed, a curve 706 of a measured rotor position, and a curve 708 of an estimated rotor position.
  • rotor speed oscillations during starting, which last about 2.3 s.
  • Fig. 8 depicts a timing chart to illustrate the effectiveness of the oscillation damping when the synchronous motor 102 from Fig. 1 is started from standstill with enabled reference rotor speed correction.
  • the parameters shown are the same as in Fig. 7 . Oscillations are almost completely damped. The starting time is reduced to about 1 s. This may be the point where the controller 106 switches to normal operation mode, e. g., closed-loop torque or speed control of the synchronous motor 102.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
EP19203213.4A 2019-10-15 2019-10-15 Verfahren zum starten eines synchronmotors Pending EP3809578A1 (de)

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EP19203213.4A EP3809578A1 (de) 2019-10-15 2019-10-15 Verfahren zum starten eines synchronmotors
US17/071,048 US11527973B2 (en) 2019-10-15 2020-10-15 Method for starting a synchronous motor
CN202011102890.9A CN112671303A (zh) 2019-10-15 2020-10-15 用于启动同步马达的方法

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US20230006575A1 (en) * 2021-06-30 2023-01-05 Texas Instruments Incorporated Method for determining a position of a rotor at standstill
US11936313B2 (en) * 2021-08-31 2024-03-19 Kinetic Technologies International Holdings Lp Method of aligning a rotor of a synchronous motor at a specified rotor angle and a controller therefor
US11817804B2 (en) * 2021-08-31 2023-11-14 Kinetic Technologies International Holdings Lp Method of starting a synchronous motor and a controller therefor
CN115622469A (zh) * 2022-10-31 2023-01-17 佛山市尼博微电子有限公司 一种用于优化电机控制性能的方法及***
WO2024092514A1 (zh) * 2022-11-01 2024-05-10 舍弗勒技术股份两合公司 转子位置的校准方法、装置及存储介质

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